Attachment_0040_-__RAS-G_IOP_V2_Overarching_Profile_Custom_Services,_Messages,_Transports.pdf

Robotics and Autonomous Systems – Ground (RAS-G) Interoperability Profile (IOP)

Overarching Profile Custom Services, Messages, and Transports

Version 2.0

Project Manager, Force Projection (PM FP)

SFAE-CSS-FP MS 401

6501 East 11 Mile Road

Warren, MI 48397

February 2016

Distribution A: Approved for Public Release

TABLE OF CONTENTS

1. Scope

2. Source Documents

2.1 Government Documents

2.1.1 Non-Government Documents

3. Custom Services

3.1 AEODRSDigitalAudioAnnunciator

3.1.1 Description

3.1.2 Assumptions

3.1.3 References

3.1.4 Vocabulary

3.1.5 Encoding

3.1.6 Protocol Behavior

3.2 AEODRSDigitalAudioSensor

3.2.1 Description

3.2.2 Assumptions

3.2.3 References

3.2.4 Vocabulary

3.2.5 Encoding

3.2.6 Protocol Behavior

3.3 AEODRSDigitalVideo

3.3.1 Description

3.3.2 Assumptions

3.3.3 References

3.3.4 Vocabulary

3.3.5 Encoding

3.3.6 Protocol Behavior

3.4 AEODRSVideoIlluminator

3.4.1 Description

3.4.2 Assumptions

3.4.3 References

3.4.4 Vocabulary

3.4.5 Encoding

3.4.6 Protocol Behavior

3.5 CommsLostPolicyManager

3.5.1 Description

3.5.2 Assumptions

3.5.3 References

3.5.4 Vocabulary

3.5.5 Encoding

3.5.6 Protocol Behavior

3.6 Communicator

3.6.1 Description

3.6.2 Assumptions

3.6.3 References

3.6.4 Vocabulary

3.6.5 Encoding

3.6.6 Protocol Behavior

3.7 CostMap2D

3.7.1 Description

3.7.2 Assumptions

3.7.3 References

3.7.4 Vocabulary

3.7.5 Encoding

3.7.6 Protocol Behavior

3.8 DebrisBlowerService

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3.8.1 Description

3.8.2 Assumptions

3.8.3 References

3.8.4 Vocabulary

3.8.5 Encoding

3.8.6 Protocol Behavior

3.9 DigitalAudio

3.9.1 Description

3.9.2 Assumptions

3.9.3 References

3.9.4 Vocabulary

3.9.5 Encoding

3.9.6 Protocol Behavior

3.10 DigitalAudioAnnunciator

3.10.1 Description

3.10.2 Assumptions

3.10.3 References

3.10.4 Vocabulary

3.10.5 Encoding

3.10.6 Protocol Behavior

3.11 DigitalResourceDiscovery

3.11.1 Description

3.11.2 Assumptions

3.11.3 References

3.11.4 Vocabulary

3.11.5 Encoding

3.11.6 Protocol Behavior

3.12 EnhancedAccessControl

3.12.1 Description

3.12.2 Assumptions

3.12.3 References

3.12.4 Vocabulary

3.12.5 Encoding

3.12.6 Protocol Behavior

3.13 EnhancedGlobalWaypointListDriver

3.13.1 Description

3.13.2 Assumptions

3.13.3 References

3.13.4 Vocabulary

3.13.5 Encoding

3.13.6 Protocol Behavior

3.14 EnhancedLocalWaypointListDriver

3.14.1 Description

3.14.2 Assumptions

3.14.3 References

3.14.4 Vocabulary

3.14.5 Encoding

3.14.6 Protocol Behavior

3.15 ExtendedPrimitiveManipulator

3.15.1 Description

3.15.2 Assumptions

3.15.3 References

3.15.4 Vocabulary

3.15.5 Encoding

3.15.6 Protocol Behavior

3.16 FilterMapper

3.16.1 Description

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3.16.2 Assumptions

3.16.3 References

3.16.4 Vocabulary

3.16.5 Encoding

3.16.6 Protocol Behavior

3.17 ForceTorqueSensor

3.17.1 Description

3.17.2 Assumptions

3.17.3 References

3.17.4 Vocabulary

3.17.5 Encoding

3.17.6 Protocol Behavior

3.18 GuardedTeleopPolicyManager

3.18.1 Description

3.18.2 Assumptions

3.18.3 References

3.18.4 Vocabulary

3.18.5 Encoding

3.18.6 Protocol Behavior

3.19 H264VideoEncoding

3.19.1 Description

3.19.2 Assumptions

3.19.3 References

3.19.4 Vocabulary

3.19.5 Encoding

3.19.6 Protocol Behavior

3.20 HandoffController

3.20.1 Description

3.20.2 Assumptions

3.20.3 References

3.20.4 Vocabulary

3.20.5 Encoding

3.20.6 Protocol Behavior

3.21 HealthMonitor

3.21.1 Description

3.21.2 Assumptions

3.21.3 References

3.21.4 Vocabulary

3.21.5 Encoding

3.21.6 Protocol Behavior

3.22 HealthReporter

3.22.1 Description

3.22.2 Assumptions

3.22.3 References

3.22.4 Vocabulary

3.22.5 Encoding

3.22.6 Protocol Behavior

3.23 LeaderFollowerDriver

3.23.1 Description

3.23.2 Assumptions

3.23.3 References

3.23.4 Vocabulary

3.23.5 Encoding

3.23.6 Protocol Behavior

3.24 LeaderManagement

3.24.1 Description

3.24.2 Assumptions

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3.24.3 References

3.24.4 Vocabulary

3.24.5 Encoding

3.24.6 Protocol Behavior

3.25 ManipulatorEndEffectorForceTorqueSensor

3.25.1 Description

3.25.2 Assumptions

3.25.3 References

3.25.4 Vocabulary

3.25.5 Encoding

3.25.6 Protocol Behavior

3.26 NodeIDAllocator

3.26.1 Description

3.26.2 Assumptions

3.26.3 References

3.26.4 Vocabulary

3.26.5 Encoding

3.26.6 Protocol Behavior

3.27 PathReporter

3.27.1 Description

3.27.2 Assumptions

3.27.3 References

3.27.4 Vocabulary

3.27.5 Encoding

3.27.6 Protocol Behavior

3.28 PhysicalSpecificationService

3.28.1 Description

3.28.2 Assumptions

3.28.3 References

3.28.4 Vocabulary

3.28.5 Encoding

3.28.6 Protocol Behavior

3.29 PlatformDoorService

3.29.1 Description

3.29.2 Assumptions

3.29.3 References

3.29.4 Vocabulary

3.29.5 Encoding

3.29.6 Protocol Behavior

3.30 PlatformMode

3.30.1 Description

3.30.2 Assumptions

3.30.3 References

3.30.4 Vocabulary

3.30.5 Encoding

3.30.6 Protocol Behavior

3.31 PlatformState

3.31.1 Description

3.31.2 Assumptions

3.31.3 References

3.31.4 Vocabulary

3.31.5 Encoding

3.31.6 Protocol Behavior

3.32 PresetPose

3.32.1 Description

3.32.2 Assumptions

3.32.3 References

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3.32.4 Vocabulary

3.32.5 Encoding

3.32.6 Protocol Behavior

3.33 RenderUseless

3.33.1 Description

3.33.2 Assumptions

3.33.3 References

3.33.4 Vocabulary

3.33.5 Encoding

3.33.6 Protocol Behavior

3.34 Retrotraverse

3.34.1 Description

3.34.2 Assumptions

3.34.3 References

3.34.4 Vocabulary

3.34.5 Encoding

3.34.6 Protocol Behavior

3.35 SelfCollisionAvoidancePolicyManager

3.35.1 Description

3.35.2 Assumptions

3.35.3 References

3.35.4 Vocabulary

3.35.5 Encoding

3.35.6 Protocol Behavior

3.36 SoftwareVersionReporting

3.36.1 Description

3.36.2 Assumptions

3.36.3 References

3.36.4 Vocabulary

3.36.5 Encoding

3.36.6 Protocol Behavior

3.37 StabilityControlService

3.37.1 Description

3.37.2 Assumptions

3.37.3 References

3.37.4 Vocabulary

3.37.5 Encoding

3.37.6 Protocol Behavior

3.38 SubsystemIDAllocator

3.38.1 Description

3.38.2 Assumptions

3.38.3 References

3.38.4 Vocabulary

3.38.5 Encoding

3.38.6 Protocol Behavior

3.39 TamperDetection

3.39.1 Description

3.39.2 Assumptions

3.39.3 References

3.39.4 Vocabulary

3.39.5 Encoding

3.39.6 Protocol Behavior

3.40 TirePressureService

3.40.1 Description

3.40.2 Assumptions

3.40.3 References

3.40.4 Vocabulary

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3.40.5 Encoding

3.40.6 Protocol Behavior

3.41 WiperService

3.41.1 Description

3.41.2 Assumptions

3.41.3 References

3.41.4 Vocabulary

3.41.5 Encoding

3.41.6 Protocol Behavior

3.42 ExtendedPrimitivePanTilt

3.42.1 Description

3.42.2 Assumptions

3.42.3 References

3.42.4 Vocabulary

3.42.5 Encoding

3.42.6 Protocol Behavior

3.43 Unsolicited Heartbeat

3.43.1 Description

3.43.2 Assumptions

3.43.3 References

3.43.4 Vocabulary

3.43.5 Encoding

3.43.6 Protocol Behavior

4. Custom Messages

5. Custom Transports

6. Conformance and Validation Requirements APPENDIX A. Appendix A – Acronyms and Abbreviations

TABLE OF TABLES

TABLE 1 AEODRSDigitalAudioAnnunciator Service Message Vocabulary TABLE 2 QueryAnnunciatorCapabilities Message Encoding TABLE 3 QueryAnnunciatorConfiguration Message Encoding TABLE 4 SetAnnunciatorConfiguration Message Encoding TABLE 5 ControlAnnunciatorStream Message Encoding TABLE 6 QueryAnnunciatorEndpoint Message Encoding TABLE 7 ReportAnnunciatorCapabilities Message Encoding TABLE 8 ReportAnnunciatorConfiguration Message Encoding TABLE 9 ConfirmAnnunciatorStream Message Encoding TABLE 10 ReportAnnunciatorEndpoint Message Encoding TABLE 11 AEODRSDigitalAudioAnnunciator Service State Transitions TABLE 12 AEODRSDigitalAudioAnnunciator Service Conditions TABLE 13 AEODRSDigitalAudioAnnunciator Service Transition Actions TABLE 14 AEODRSDigitalAudioSensor Service Message Vocabulary TABLE 15 QueryDigitalAudioSensorCapabilities Message Encoding TABLE 16 QueryDigitalAudioSensorConfiguration Message Encoding TABLE 17 QueryDigitalAudioSensorStreamEndpoint Message Encoding TABLE 18 SetDigitalAudioSensorConfiguration Message Encoding TABLE 19 ControlDigitalAudioSensorStream Message Encoding TABLE 20 SetDigitalAudioSensorStreamEndpoint Message Encoding TABLE 21 ReportDigitalAudioSensorCapabilities Message Encoding TABLE 22 ReportDigitalAudioSensorConfiguration Message Encoding TABLE 23 ReportDigitalAudioSensorStreamEndpoint Message Encoding TABLE 24 AEODRSDigitalAudioSensor Service State Transitions TABLE 25 AEODRSDigitalAudioSensor Service Conditions

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TABLE 26 AEODRSDigitalAudioSensor Service Transition Actions TABLE 27 AEODRSDigitalVideo Service Message Vocabulary TABLE 28 QueryDigitalVideoEndpoint Message Encoding TABLE 29 QueryAimpointParameters Message Encoding TABLE 30 SetDigitalVideoEndpoint Message Encoding TABLE 31 ReportDigitalVideoEndpoint Message Encoding TABLE 32 ReportAimpointParameters Message Encoding TABLE 33 AEODRSDigitalVideo Service State Transitions TABLE 34 AEODRSDigitalVideo Service Conditions TABLE 35 AEODRSDigitalVideo Service Transition Actions TABLE 36 AEODRSVideoIlluminator Service Message Vocabulary TABLE 37 QueryDigitalVideoIlluminatorCapabilities Message Encoding TABLE 38 QueryDigitalVideoIlluminatorConfiguration Message Encoding TABLE 39 SetDigitalVideoIlluminatorConfiguration Message Encoding TABLE 40 QueryDigitalVideoIlluminator Message Encoding TABLE 41 SetDigitalVideoIlluminator Message Encoding TABLE 42 ReportDigitalVideoIlluminatorConfiguration Message Encoding TABLE 43 ReportDigitalVideoIlluminator Message Encoding TABLE 44 ReportDigitalVideoIlluminatorCapabilities Message Encoding TABLE 45 AEODRSVideoIlluminator Service State Transitions TABLE 46 AEODRSVideoIlluminator Service Conditions TABLE 47 AEODRSVideoIlluminator Service Transition Actions TABLE 48 CommsLostPolicyManager Service Message Vocabulary TABLE 49 CommsLostPolicyManager Service Internal Events Set TABLE 50 CommsLost Event Encoding TABLE 51 CommsRestored Event Encoding TABLE 52 SetCommsLostPolicy Message Encoding TABLE 53 QueryCommsLostCapabilities Message Encoding TABLE 54 QueryCommsLostConfiguration Message Encoding TABLE 55 QueryCommsLostStatus Message Encoding TABLE 56 SetCommsLostPolicyResponse Message Encoding TABLE 57 ReportCommsLostCapabilities Message Encoding TABLE 58 ReportCommsLostConfiguration Message Encoding TABLE 59 ReportCommsLostStatus Message Encoding TABLE 60 CommsLostPolicyManager Service State Transitions TABLE 61 CommsLostPolicyManager Service Conditions TABLE 62 CommsLostPolicyManager Service Transition Actions TABLE 63 Communicator Service Message Vocabulary TABLE 64 Communicator Service Internal Events Set TABLE 65 ValidationTimeout Event Encoding TABLE 66 CommsEstablished Event Encoding TABLE 67 QueryCommunicatorCapability Message Encoding TABLE 68 QueryCommunicatorConfiguration Message Encoding TABLE 69 QueryCommunicatorHealth Message Encoding TABLE 70 SetCommunicatorConfiguration Message Encoding TABLE 71 ReportCommunicatorCapability Message Encoding TABLE 72 ReportCommunicatorConfiguration Message Encoding TABLE 73 ReportCommunicatorHealth Message Encoding TABLE 74 SetCommunicatorConfigurationResponse Message Encoding TABLE 75 Communicator Service State Transitions TABLE 76 Communicator Service Conditions TABLE 77 Communicator Service Transition Actions TABLE 78 CostMap2D Service Message Vocabulary TABLE 79 QueryCostMap2D Message Encoding TABLE 80 QueryNoGoZones Message Encoding TABLE 81 AddNoGoZone Message Encoding TABLE 82 RemoveNoGoZone Message Encoding

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TABLE 83 ReportCostMap2D Message Encoding TABLE 84 ReportNoGoZones Message Encoding TABLE 85 AddNoGoZoneResponse Message Encoding TABLE 86 CostMap2D Service State Transitions TABLE 87 CostMap2D Service Conditions TABLE 88 CostMap2D Service Transition Actions TABLE 89 DebrisBlowerService Service Message Vocabulary TABLE 90 QueryDebrisBlowerCapabilities Message Encoding TABLE 91 QueryDebrisBlowerConfiguration Message Encoding TABLE 92 SetDebrisBlowerConfiguration Message Encoding TABLE 93 ReportDebrisBlowerCapabilities Message Encoding TABLE 94 ReportDebrisBlowerConfiguration Message Encoding TABLE 95 DebrisBlowerService Service State Transitions TABLE 96 DebrisBlowerService Service Conditions TABLE 97 DebrisBlowerService Service Transition Actions TABLE 98 DigitalAudio Service Message Vocabulary TABLE 99 SetDigitalAudioConfiguration Message Encoding TABLE 100 QueryDigitalAudioCapabilities Message Encoding TABLE 101 QueryDigitalAudioConfiguration Message Encoding TABLE 102 SetDigitalAudioConfigurationResponse Message Encoding TABLE 103 ReportDigitalAudioCapabilities Message Encoding TABLE 104 ReportDigitalAudioConfiguration Message Encoding TABLE 105 DigitalAudio Service State Transitions TABLE 106 DigitalAudio Service Conditions TABLE 107 DigitalAudio Service Transition Actions TABLE 108 DigitalAudioAnnunciator Service Message Vocabulary TABLE 109 SetDigitalAudioStreamSource Message Encoding TABLE 110 QueryDigitalAudioStreamSource Message Encoding TABLE 111 ReportDigitalAudioStreamSource Message Encoding TABLE 112 DigitalAudioAnnunciator Service State Transitions TABLE 113 DigitalAudioAnnunciator Service Conditions TABLE 114 DigitalAudioAnnunciator Service Transition Actions TABLE 115 DigitalResourceDiscovery Service Message Vocabulary TABLE 116 QueryDigitalResourceEndpoint Message Encoding TABLE 117 RegisterDigitalResourceEndpoint Message Encoding TABLE 118 RemoveDigitalResourceEndpoint Message Encoding TABLE 119 ReportDigitalResourceEndpoint Message Encoding TABLE 120 ConfirmDigitalResourceEndpoint Message Encoding TABLE 121 DigitalResourceDiscovery Service State Transitions TABLE 122 DigitalResourceDiscovery Service Transition Actions TABLE 123 EnhancedAccessControl Service Message Vocabulary TABLE 124 EnhancedAccessControl Service Internal Events Set TABLE 125 HandoffTimeout Event Encoding TABLE 126 EnhancedTimeout Event Encoding TABLE 127 RequestHandoff Message Encoding TABLE 128 QueryHandoffTimeout Message Encoding TABLE 129 QueryEnhancedTimeout Message Encoding TABLE 130 RemoveHandoffRequest Message Encoding TABLE 131 ConfirmHandoffRequest Message Encoding TABLE 132 ReportHandoffTimeout Message Encoding TABLE 133 ReportEnhancedTimeout Message Encoding TABLE 134 EnhancedAccessControl Service State Transitions TABLE 135 EnhancedAccessControl Service Conditions TABLE 136 EnhancedAccessControl Service Transition Actions TABLE 137 EnhancedGlobalWaypointListDriver Service Message Vocabulary TABLE 138 SetEnhancedGlobalWaypointInformation Message Encoding TABLE 139 QueryGlobalWaypointStatus Message Encoding

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TABLE 140 QueryEnhancedGlobalWaypointInformation Message Encoding TABLE 141 ReportGlobalWaypointStatus Message Encoding TABLE 142 ReportEnhancedGlobalWaypointInformation Message Encoding TABLE 143 EnhancedGlobalWaypointListDriver Service State Transitions TABLE 144 EnhancedGlobalWaypointListDriver Service Conditions TABLE 145 EnhancedGlobalWaypointListDriver Service Transition Actions TABLE 146 EnhancedLocalWaypointListDriver Service Message Vocabulary TABLE 147 SetEnhancedLocalWaypointInformation Message Encoding TABLE 148 QueryLocalWaypointStatus Message Encoding TABLE 149 QueryEnhancedLocalWaypointInformation Message Encoding TABLE 150 ReportLocalWaypointStatus Message Encoding TABLE 151 ReportEnhancedLocalWaypointInformation Message Encoding TABLE 152 EnhancedLocalWaypointListDriver Service State Transitions TABLE 153 EnhancedLocalWaypointListDriver Service Conditions TABLE 154 EnhancedLocalWaypointListDriver Service Transition Actions TABLE 155 ExtendedPrimitiveManipulator Service Message Vocabulary TABLE 156 QueryJointOperationalParameters Message Encoding TABLE 157 QueryHostManipulator Message Encoding TABLE 158 ReportOperationalParameters Message Encoding TABLE 159 ReportManipulatorHost Message Encoding TABLE 160 ExtendedPrimitiveManipulator Service State Transitions TABLE 161 ExtendedPrimitiveManipulator Service Transition Actions TABLE 162 FilterMapper Service Message Vocabulary TABLE 163 QueryFilterType Message Encoding TABLE 164 QueryComponentMappings Message Encoding TABLE 165 ReportFilterType Message Encoding TABLE 166 ReportComponentMappings Message Encoding TABLE 167 FilterMapper Service State Transitions TABLE 168 FilterMapper Service Transition Actions TABLE 169 ForceTorqueSensor Service Message Vocabulary TABLE 170 QueryForceTorqueCapabilities Message Encoding TABLE 171 QueryForceTorque Message Encoding TABLE 172 ReportForceTorqueCapabilities Message Encoding TABLE 173 ReportForceTorque Message Encoding TABLE 174 ForceTorqueSensor Service State Transitions TABLE 175 ForceTorqueSensor Service Transition Actions TABLE 176 GuardedTeleopPolicyManager Service Message Vocabulary TABLE 177 SetGuardedTeleopPolicy Message Encoding TABLE 178 QueryGuardedTeleopCapabilities Message Encoding TABLE 179 QueryGuardedTeleopConfiguration Message Encoding TABLE 180 QueryGuardedTeleopStatus Message Encoding TABLE 181 SetGuardedTeleopPolicyResponse Message Encoding TABLE 182 ReportGuardedTeleopCapabilities Message Encoding TABLE 183 ReportGuardedTeleopConfiguration Message Encoding TABLE 184 ReportGuardedTeleopStatus Message Encoding TABLE 185 GuardedTeleopPolicyManager Service State Transitions TABLE 186 GuardedTeleopPolicyManager Service Conditions TABLE 187 GuardedTeleopPolicyManager Service Transition Actions TABLE 188 H264VideoEncoding Service Message Vocabulary TABLE 189 SetH264VideoEncodingConfiguration Message Encoding TABLE 190 QueryH264VideoEncodingCapabilities Message Encoding TABLE 191 QueryH264VideoEncodingConfiguration Message Encoding TABLE 192 ReportH264VideoEncodingCapabilities Message Encoding TABLE 193 ReportH264VideoEncodingConfiguration Message Encoding TABLE 194 H264VideoEncoding Service State Transitions TABLE 195 H264VideoEncoding Service Conditions TABLE 196 H264VideoEncoding Service Transition Actions

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TABLE 197 HandoffController Service Message Vocabulary TABLE 198 HandoffController Service Internal Events Set TABLE 199 HandoffDecisionMade Event Encoding TABLE 200 RequestReleaseControl Message Encoding TABLE 201 ConfirmReleaseControl Message Encoding TABLE 202 HandoffController Service State Transitions TABLE 203 HandoffController Service Transition Actions TABLE 204 HealthMonitor Service Message Vocabulary TABLE 205 QueryUGVSummary Message Encoding TABLE 206 UpdateUGVSummary Message Encoding TABLE 207 ReportUGVSummary Message Encoding TABLE 208 HealthMonitor Service State Transitions TABLE 209 HealthMonitor Service Conditions TABLE 210 HealthMonitor Service Transition Actions TABLE 211 HealthReporter Service Message Vocabulary TABLE 212 QueryHealthDetails Message Encoding TABLE 213 UpdateHealthReporter Message Encoding TABLE 214 QueryHealthSummary Message Encoding TABLE 215 QueryHourMeter Message Encoding TABLE 216 QueryReminderSummary Message Encoding TABLE 217 ResetReminder Message Encoding TABLE 218 QueryReminder Message Encoding TABLE 219 ReportHealthDetails Message Encoding TABLE 220 ReportHealthSummary Message Encoding TABLE 221 ReportHourMeter Message Encoding TABLE 222 ReportReminderSummary Message Encoding TABLE 223 ReportReminder Message Encoding TABLE 224 HealthReporter Service State Transitions TABLE 225 HealthReporter Service Conditions TABLE 226 HealthReporter Service Transition Actions TABLE 227 LeaderFollowerDriver Service Message Vocabulary TABLE 228 SetFollowerState Message Encoding TABLE 229 SetFollowerConfiguration Message Encoding TABLE 230 QueryFollowerConfiguration Message Encoding TABLE 231 ReportFollowerConfiguration Message Encoding TABLE 232 LeaderFollowerDriver Service State Transitions TABLE 233 LeaderFollowerDriver Service Conditions TABLE 234 LeaderFollowerDriver Service Transition Actions TABLE 235 LeaderManagement Service Message Vocabulary TABLE 236 LeaderManagement Service Internal Events Set TABLE 237 RegistrationTimeout Event Encoding TABLE 238 QueryFollowers Message Encoding TABLE 239 RegisterFollower Message Encoding TABLE 240 RequestSpeedOverride Message Encoding TABLE 241 ReportFollowers Message Encoding TABLE 242 RegisterFollowerResponse Message Encoding TABLE 243 LeaderManagement Service State Transitions TABLE 244 LeaderManagement Service Conditions TABLE 245 LeaderManagement Service Transition Actions TABLE 246 ManipulatorEndEffectorForceTorqueSensor Service Message Vocabulary TABLE 247 QueryManipulatorEndEffectorForceTorque Message Encoding TABLE 248 ReportManipulatorEndEffectorForceTorque Message Encoding TABLE 249 ManipulatorEndEffectorForceTorqueSensor Service State Transitions TABLE 250 ManipulatorEndEffectorForceTorqueSensor Service Transition Actions TABLE 251 NodeIDAllocator Service Message Vocabulary TABLE 252 RequestNodeID Message Encoding TABLE 253 GrantNodeID Message Encoding

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TABLE 254 NodeIDAllocator Service State Transitions TABLE 255 NodeIDAllocator Service Transition Actions TABLE 256 PathReporter Service Message Vocabulary TABLE 257 QueryPathReporterCapabilities Message Encoding TABLE 258 QueryPath Message Encoding TABLE 259 ReportPathReporterCapabilities Message Encoding TABLE 260 ReportPath Message Encoding TABLE 261 PathReporter Service State Transitions TABLE 262 PathReporter Service Conditions TABLE 263 PathReporter Service Transition Actions TABLE 264 PhysicalSpecificationService Service Message Vocabulary TABLE 265 QueryPhysicalProperties Message Encoding TABLE 266 QueryElectricalProperties Message Encoding TABLE 267 ReportPhysicalProperties Message Encoding TABLE 268 ReportElectricalProperties Message Encoding TABLE 269 PhysicalSpecificationService Service State Transitions TABLE 270 PhysicalSpecificationService Service Transition Actions TABLE 271 PlatformDoorService Service Message Vocabulary TABLE 272 QueryDoorStatus Message Encoding TABLE 273 SetDoorLock Message Encoding TABLE 274 ReportDoorStatus Message Encoding TABLE 275 PlatformDoorService Service State Transitions TABLE 276 PlatformDoorService Service Conditions TABLE 277 PlatformDoorService Service Transition Actions TABLE 278 PlatformMode Service Message Vocabulary TABLE 279 SetPlatformMode Message Encoding TABLE 280 QueryPlatformMode Message Encoding TABLE 281 QuerySupportedPlatformModes Message Encoding TABLE 282 ReportPlatformMode Message Encoding TABLE 283 ReportSupportedPlatformModes Message Encoding TABLE 284 PlatformMode Service State Transitions TABLE 285 PlatformMode Service Transition Actions TABLE 286 PlatformState Service Message Vocabulary TABLE 287 PlatformState Service Internal Events Set TABLE 288 Emergency_Event Event Encoding TABLE 289 Initialization_Completes_Event Event Encoding TABLE 290 Internal_Failure_Event Event Encoding TABLE 291 Recover_Emergency_Event Event Encoding TABLE 292 Render_Useless_Event Event Encoding TABLE 293 Reset_Event Event Encoding TABLE 294 Shutdown_Event Event Encoding TABLE 295 SetPlatformState Message Encoding TABLE 296 QueryPlatformState Message Encoding TABLE 297 ConfirmPlatformStateRequest Message Encoding TABLE 298 ReportPlatformState Message Encoding TABLE 299 PlatformState Service State Transitions TABLE 300 PlatformState Service Conditions TABLE 301 PlatformState Service Transition Actions TABLE 302 PresetPose Service Message Vocabulary TABLE 303 PresetPose Service Internal Events Set TABLE 304 TransitionCompleted Event Encoding TABLE 305 TransitionFailed Event Encoding TABLE 306 QueryPresetPoseCapabilities Message Encoding TABLE 307 QueryCurrentPose Message Encoding TABLE 308 SetCurrentPose Message Encoding TABLE 309 QueryPresetPoseSpecifications Message Encoding TABLE 310 ReportPresetPoseCapabilities Message Encoding

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TABLE 311 ReportCurrentPose Message Encoding TABLE 312 ReportTransitionCompleted Message Encoding TABLE 313 ReportPresetPoseSpecifications Message Encoding TABLE 314 PresetPose Service State Transitions TABLE 315 PresetPose Service Conditions TABLE 316 PresetPose Service Transition Actions TABLE 317 RenderUseless Service Message Vocabulary TABLE 318 RenderUseless Message Encoding TABLE 319 QueryRenderUseless Message Encoding TABLE 320 ConfirmRenderUselessRequest Message Encoding TABLE 321 ReportRenderUseless Message Encoding TABLE 322 RenderUseless Service State Transitions TABLE 323 RenderUseless Service Conditions TABLE 324 RenderUseless Service Transition Actions TABLE 325 Retrotraverse Service Message Vocabulary TABLE 326 QueryRetrotraverseStatus Message Encoding TABLE 327 StartRetrotraverse Message Encoding TABLE 328 CancelRetrotraverse Message Encoding TABLE 329 ReportRetrotraverseStatus Message Encoding TABLE 330 Retrotraverse Service State Transitions TABLE 331 Retrotraverse Service Conditions TABLE 332 Retrotraverse Service Transition Actions TABLE 333 SelfCollisionAvoidancePolicyManager Service Message Vocabulary TABLE 334 SetSelfCollisionAvoidancePolicy Message Encoding TABLE 335 QuerySelfCollisionAvoidanceCapabilities Message Encoding TABLE 336 QuerySelfCollisionAvoidanceConfiguration Message Encoding TABLE 337 QuerySelfCollisionAvoidanceStatus Message Encoding TABLE 338 SetSelfCollisionAvoidancePolicyResponse Message Encoding TABLE 339 ReportSelfCollisionAvoidanceCapabilities Message Encoding TABLE 340 ReportSelfCollisionAvoidanceConfiguration Message Encoding TABLE 341 ReportSelfCollisionAvoidanceStatus Message Encoding TABLE 342 SelfCollisionAvoidancePolicyManager Service State Transitions TABLE 343 SelfCollisionAvoidancePolicyManager Service Conditions TABLE 344 SelfCollisionAvoidancePolicyManager Service Transition Actions TABLE 345 SoftwareVersionReporting Service Message Vocabulary TABLE 346 QuerySoftwareVersion Message Encoding TABLE 347 ReportSoftwareVersion Message Encoding TABLE 348 SoftwareVersionReporting Service State Transitions TABLE 349 SoftwareVersionReporting Service Transition Actions TABLE 350 StabilityControlService Service Message Vocabulary TABLE 351 QueryStabilityControlCapabilities Message Encoding TABLE 352 QueryStabilityControlStatus Message Encoding TABLE 353 SetStabilityControlStatus Message Encoding TABLE 354 ReportStabilityControlCapabilities Message Encoding TABLE 355 ReportStabilityControlStatus Message Encoding TABLE 356 StabilityControlService Service State Transitions